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cs.RO2025
Shape control of simulated multi-segment continuum robots via Koopman operators with per-segment projection
Eron Ristich, Jiahe Wang, Lei Zhang +4
Soft continuum robots can allow for biocompatible yet compliant motions, such as the ability of octopus arms to swim, crawl, and manipulate objects. However, current state-of-the-a…
cs.RO2025
TwinTrack: Bridging Vision and Contact Physics for Real-Time Tracking of Unknown Objects in Contact-Rich Scenes
Wen Yang, Zhixian Xie, Yiting Wang +4
Real-time tracking of previously unseen, highly dynamic objects in contact-rich scenes, such as during dexterous in-hand manipulation, remains a major challenge. Pure vision-based…